STATIC OBSTACLES AVOIDANCE ALGORITHM FOR UNMANNED SHIP

An algorithm for the formation of a route for unmanned ship along a given trajectory and avoiding static obstacles is proposed in the paper. The algorithm is implemented by combining the trajectory motion function and the function that generates circulation around a given point (obstacle). The route of movement is defined by a set of waypoints with coordinates connected by straight line segments. The obstacle is specified in the form of the center coordinate and the radius of the obstacle. To move along the trajectory, an algorithm based on the use of the sum of the gradient vector of the auxiliary function and the vector that specifies the direction on a given route section is used. This allows the vessel to move along a given route. Circulations around the obstacle are formed on the basis of a special class of vector fields proposed in the works of D. Panagou, H. G. Tanner, K. J. Kyriakopoulos. By orienting the circulation in the direction of movement along the trajectory at the point of the obstacle and limiting it to a given maneuvering zone, a navigation vector field, which is a set of vectors showing the required direction of movement at a specific point, is formed. To reduce the probability of an unmanned ship piling up on an obstacle and to ensure safe maneuvering, an additional “repulsive” vector field, which forms a “ forbidden” zone in the navigation vector field, is introduced. The algorithms under study are implemented in the Matlab / Simulink modeling environment. The results of numerical experiments are presented for various combinations of algorithm parameters. The results are presented graphically in the form of displaying navigation vector fields showing the movement direction of the unmanned ship, and displaying obstacles, prohibited zones and maneuvering zones. Further improvement of the algorithm for solving problems of avoiding dynamic and group obstacles is planned.

unmanned ship, waypoint, algorithm, vector field, navigation vector field, circulation, trajectory, route, static obstacle, maneuvering zone

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